An Adaptive Control Technique for Motion Synchronization by On-line Estimation of a Recursive Least Square Method
This article presents an adaptive technique to tune controller gains for the motion synchronization of two gimbal systems by using a recursive least square method in the real-time fashion. In the master-slave configuration, the slave gimbal system follows the master’s motion while the master tracks...
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| Published in | International journal of control, automation, and systems Vol. 16; no. 3; pp. 1103 - 1111 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.06.2018
Springer Nature B.V 제어·로봇·시스템학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1598-6446 2005-4092 |
| DOI | 10.1007/s12555-017-0187-y |
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| Abstract | This article presents an adaptive technique to tune controller gains for the motion synchronization of two gimbal systems by using a recursive least square method in the real-time fashion. In the master-slave configuration, the slave gimbal system follows the master’s motion while the master tracks the reference. In order for the slave gimbal system to synchronize with the motion of the master gimbal system, the dynamic difference between two systems is compensated by the controller gains. The controller gains of the slave are adaptively adjusted by the recursive least square method to cope with the deviation. The performances of three control schemes such as an independent PD control, a dependent torque control, and an RLS torque control scheme are evaluated by the experimental studies for the low cost gimbal systems. Experimental studies confirm that the RLS-based adaptive scheme actually outperforms by adjusting controller gains for the motion synchronization of the master and slave configuration. |
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| AbstractList | This article presents an adaptive technique to tune controller gains for the motion synchronization of two gimbal systems by using a recursive least square method in the real-time fashion. In the master-slave configuration, the slave gimbal system follows the master’s motion while the master tracks the reference. In order for the slave gimbal system to synchronize with the motion of the master gimbal system, the dynamic difference between two systems is compensated by the controller gains. The controller gains of the slave are adaptively adjusted by the recursive least square method to cope with the deviation. The performances of three control schemes such as an independent PD control, a dependent torque control, and an RLS torque control scheme are evaluated by the experimental studies for the low cost gimbal systems. Experimental studies confirm that the RLS-based adaptive scheme actually outperforms by adjusting controller gains for the motion synchronization of the master and slave configuration. This article presents an adaptive technique to tune controller gains for the motion synchronization of two gimbal systems by using a recursive least square method in the real-time fashion. In the master-slave configuration, the slave gimbal system follows the master’s motion while the master tracks the reference. In order for the slave gimbal system to synchronize with the motion of the master gimbal system, the dynamic difference between two systems is compensated by the controller gains. The controller gains of the slave are adaptively adjusted by the recursive least square method to cope with the deviation. The performances of three control schemes such as an independent PD control, a dependent torque control, and an RLS torque control scheme are evaluated by the experimental studies for the low cost gimbal systems. Experimental studies confirm that the RLS-based adaptive scheme actually outperforms by adjusting controller gains for the motion synchronization of the master and slave configuration. KCI Citation Count: 8 |
| Author | Jung, Seul Lee, Sang-Deok |
| Author_xml | – sequence: 1 givenname: Sang-Deok surname: Lee fullname: Lee, Sang-Deok organization: Intelligent Systems and Emotional Engineering(ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University – sequence: 2 givenname: Seul surname: Jung fullname: Jung, Seul email: jungs@cnu.ac.kr organization: Intelligent Systems and Emotional Engineering(ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University |
| BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002349616$$DAccess content in National Research Foundation of Korea (NRF) |
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| CitedBy_id | crossref_primary_10_1016_j_psep_2021_01_050 crossref_primary_10_1007_s12555_019_0987_3 crossref_primary_10_1016_j_measurement_2019_07_029 crossref_primary_10_1088_1742_6596_2310_1_012041 crossref_primary_10_1016_j_energy_2021_120699 crossref_primary_10_1016_j_saa_2024_124912 crossref_primary_10_1016_j_compag_2022_107417 crossref_primary_10_1186_s12938_018_0613_2 |
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| ContentType | Journal Article |
| Copyright | Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018 International Journal of Control, Automation and Systems is a copyright of Springer, (2018). All Rights Reserved. |
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| Keywords | master and slave configuration RLS Adaptive control gains gimbal systems synchronized motions |
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| SubjectTerms | Adaptive control Configurations Control Control theory Controllers Engineering Least squares Mechatronics Recursive methods Regular Papers Robotics Synchronism Torque 제어계측공학 |
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| Title | An Adaptive Control Technique for Motion Synchronization by On-line Estimation of a Recursive Least Square Method |
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